JPH0646437B2 - Guide route setting device for vehicle route guide device - Google Patents

Description

TECHNICAL FIELD The present invention relates to an apparatus for guiding a route of a vehicle, which automatically sets the guiding route.

<< Prior Art >> Japanese Patent Application Laid-Open No. 57-21151 discloses a route guidance device for a vehicle.
0 and the like are known, and in these devices, each intersection on the road is registered.

The registration contents of these intersections include information indicating the position of each registered intersection, information specifying an adjacent intersection (adjacent intersection) located next to the intersection, and information indicating the distance from the intersection to each adjacent intersection. ing.

When the vehicle departure position (departure point) and its arrival target position (destination) are given, registered intersections respectively located near them are selected, and the shortest guide route connecting these selected intersections is included in the registered contents. It is set by the accumulated process of the traveled distance.

<< Problems to be Solved by the Invention >> Here, in the prior art, all of the above intersection registration contents were used to set the guide route of the vehicle.
There has been a problem that it takes a long time to perform the process for setting the guide route and that the guide route is set so that the actual travel distance is not the shortest.

The present invention has been made in view of the above conventional problems,
It is an object of the present invention to provide a guide route setting device for a vehicle route guide device that can reliably set a guide route having the shortest path distance in a short time.

<< Means for Solving Problems >> In order to achieve the above object, the apparatus according to the present invention is configured as shown in FIG.

In the figure, the intersection registration means a, for each registered intersection, position information of the intersection, specific information of each adjacent intersection,
Distance information about the distance from the intersection to each adjacent intersection is stored.

Then, the area setting means b sets an area including the vehicle starting position and the target reaching position according to a predetermined condition.

Further, the intersection search means c searches for a registered intersection belonging to the set area using the position information.

Further, in the search intersection information extracting means d, information regarding only each search intersection is extracted from the intersection registration contents, and the specific information of the adjacent intersection that does not belong to the set area is excluded from the extracted information.

Then, in the route setting means e, a search intersection corresponding to each of the vehicle departure position and the reaching target position is selected based on the extracted information, and the guide route having the shortest route distance between both search intersections is the above-mentioned route distance in the extracted information. Is set by integrating.

<< Operation >> In the present invention, the area including the vehicle departure position and the target arrival position is set according to a predetermined condition, and the guide route is set using only the intersection registration contents limited in the set area.

<< Embodiment >> A preferred embodiment of an apparatus according to the present invention will be described below with reference to the drawings.

FIG. 2 shows the configuration of a vehicle route guidance device to which the present invention is applied.
Processing is performed using the RAM 3 in accordance with the contents of.

To confirm the traveling position of the vehicle, its traveling position and azimuth are detected by the distance sensor 4 and the azimuth sensor 5, respectively, and their detection signals are used for the processing of the CPU 1.

A video RAM is provided for the driver of the vehicle equipped with this device.
6, route guidance information is given using CRT7,
Input of various information to this apparatus is performed by an input operation unit 8 including a numeric keypad or the like, or by using a transparent operation panel 10 attached to the front surface of the VDT 9 in FIG. The VDT 9 is composed of a video RAM 6 and a CRT 7, and the transparent operation panel 10 is provided with an operation panel interface 11 as shown in FIG.

Furthermore, the image data of the map used to display the CRT7,
Data about each registered intersection is stored in the external memory 12, and a floppy disk, an optical disk, a magnetic tape or the like can be used as the external memory 12.

The stored contents of the external memory 12 are shown in FIG. 4, and the reference road map 13 is vertically and horizontally partitioned in FIG.

Then, a plurality of block areas (2.
0), (2.1), (2.2), (1.0), (1.
1), (1.2), (0.0), (0.1), (0.
2) is provided correspondingly as shown in FIG. 7B, and each block area is divided into a plurality of intersection areas for each registered intersection included therein.

Intersection numbers (intersection No.) that identify the intersection from other intersections are stored in each of these intersection areas.
In addition, overpasses, level intersections, intersections on highways,
Data indicating the type of the intersection, such as an intersection at the entrance of the expressway, an intersection at the exit of the expressway, an intersection at the entrance of the expressway, and X indicating the position of the intersection on the map 13.
Coordinate data, Y coordinate data, and data indicating the name of the intersection are also stored.

In addition, each intersection area has multiple adjacent intersection areas ~
The number of intersections (adjacent intersections) located next to the intersections (adjacent intersections No.), the direction of the roads connecting the intersections and the intersections, and the distance to each adjacent intersection are provided in these adjacent intersection areas. Data indicating the distance is stored. For registered intersections on expressways, the distance between them is set to be significantly shorter than the actual distance.

Then, as shown in FIG.
0), (1.0), (2.0) ... Representing the block numbers 0, 10, 20 ... Respectively, a table is stored in which the leading and trailing registered intersection numbers of these block areas are stored in correspondence with each other. Has been done.

Further, the external memory 12 is also provided with tables whose contents are shown in FIGS. 5, 6, 7, 8, and 9, and when using this device, the starting point and the destination are shown. The identification process (step 1000 in FIG. 10) is performed using these.

The detailed contents of the processing (step 1000) are shown in FIG. 11, and the display of FIG. 12 is first performed.

And as shown in the figure, the transparent operation panel 10 "Miura Peninsula"
When the display portion is pressed, the display of FIG. 13 is performed.

When the transparent operation panel 10 is further operated as shown in FIG. 13, the display of FIG. 14 is displayed.

When any of the areas partitioned by the broken line in FIG. 14 is designated by the pushing operation, the center coordinates thereof are taken as the starting point or the destination of the vehicle.

Further, when the "LIST" portion is pressed and the display in FIG. 15 is selected and one of the point name display portions is pressed as shown in the same figure, the starting point or destination of the vehicle is the coordinate position. It is said that

In this way, the starting point and the destination are specified (step 1
001) to obtain coordinate positions Zs (Xs, Ys) and Zd (Xd, Yd) for them, the guide route setting process is started and the registration data reorganization process (step 10 in FIG. 10) described later is started. 1001) is performed first.

Then, based on the intersection registration data prepared by the processing (step 1001), a departure intersection (first intersection) and a destination intersection (last intersection) located in the vicinity of the intersections existing around the departure place and the destination are provided. Are selected (step 1002).

The selection process of the departure intersection and the destination intersection is performed by the procedure shown in the flow chart of FIG. 16, and the departure intersection has its position Zs as understood from FIG.
Among those existing on the position Zd (Xd, Yd) side of (Xs, Ys) and separated by a certain distance or more, the closest position Z ₁ (X ₁ , Y ₁ ) is selected.

Further, as understood from FIG. 18, the target intersection is selected at the position closest to the position Zd (Xd, Yd).

When the above processing (step 1002) is performed, the route search processing (step 1003 in FIG. 10) is started.

The processing is performed by the procedure shown by the flowchart in FIG. 19, and in that case, the registration data reorganization processing (first
Based on the intersection registration data prepared in step 1001) of FIG. 0, a guide route having the shortest conduction distance from the departure intersection to the destination intersection is set by the intersection distance calculation process.

That is, in the process of FIG. 19, a traveling simulation is performed in which the distances between the intersections of FIG. 4 are added along all the routes starting from the departure intersection, and there are a plurality of routes reaching the same intersection during that time. In this case, the shortest route is selected (see FIG. 20), and the route that first reaches the target intersection during the traveling simulation is determined as the shortest route.

At that time, the intersection number indicating the intersection just before each intersection is stored corresponding to the intersection number as shown in FIG. 20, and these intersection numbers are used to move from the destination intersection to the departure intersection. Each midway intersection is decided sequentially,
As a result, as shown in FIG. 21, a table in which each midway intersection is stored in the order of passage is prepared.

When the guide route with the shortest route distance is set as described above, the display process for guiding the vehicle from the starting point to the starting intersection is started (step 1004 in FIG. 10).

In that process (step 1004), FIG.
The process of FIG. 24 and FIG. 24 is being performed. First, as shown in FIG. 25, the direction of the starting intersection is displayed together with the traveling locus.

When the vehicle approaches within 300m of the departure intersection,
As shown in FIG. 27, an intersection figure in which the vehicle traveling direction is set to the 12 o'clock direction is displayed in the upper left corner portion of the screen, and at that time, the guidance route is specified in that portion.

When the vehicle is guided to the departure intersection in this way, display processing (step 1005 in FIG. 10) for guiding the vehicle from the departure intersection to the destination intersection is started.

The contents of this processing (step 1005) are shown in FIG. 28 and FIG.
9, FIG. 30, FIG. 31, FIG. 32, FIG. 33, FIG.
4, FIG. 35, FIG. 36, FIG. 37, FIG. 38, and FIG.
As illustrated by FIGS. 9, 40 and 41,
When the route is guided, it is confirmed that the vehicle deviates from the route.

The approach to the next intersection is also monitored, and the correction of the current position and the setting of the next passage intersection are repeatedly performed every time the passage of the intersection is confirmed.

Further, in front of each midway intersection, as shown in FIGS. 36 and 37, the vehicle traveling direction of the intersection is guided and displayed by using the intersection graphic and the path arrow.

When the midway intersection to be passed through the right / left turn is a three-dimensional intersection, as shown in FIG. 40, the central portion of the intersection figure is outlined, and the direction of the intersection is displayed with a path arrow.

The traveling locus is always displayed on the road map while the vehicle is traveling between the intersections.

After that, when the vehicle reaches the destination intersection, a display for guiding the vehicle from the destination intersection to the destination is displayed (first
Figure 0 Step 1006). The details of the processing for displaying the information are shown in FIG. 42. By performing this processing, the destination direction is displayed as shown in FIG. 43 using the vehicle graphic and the arrow-shaped segment.

After that, when the vehicle approaches the destination again, the driver is notified of that fact by the arrival notification text as shown in FIG. Next, the registration data reorganization process (step 1001 in FIG. 10) performed in the guide route setting process will be described.

The processing contents are shown in FIG. 45. In this processing, the coordinates (Xs, Ys), (Xd, Y) of the starting point and the destination are shown.
First, the data indicating d) is read (step 450).
1).

Then, the inclination angle θ of the straight line connecting the starting point and the destination is calculated according to the formula of θ = tan ⁻¹ {(Yd−Ys) / (Xd−Xs)} (step 4502), and the inclination angle θ is the 46th. As can be seen from the figure, the X-axis, which is set to the east, is used as the reference.

Furthermore, the coordinates (X ₁ , Y represented by X ₁ = Xs + | (sin θ) / 6− | (cos) θ / 10 Y ₁ = Ys− | (cos) θ / 6− | (sin θ) / 10 ₁ ) and X ₂ = Xd− | (sin θ) / 6 + | (cos θ) / 10 Y ₂ = Yd + | (cos θ) / 6 + | (sin θ) / 10 the coordinates (X ₂ , Y ₂ ) And are obtained as shown in FIG. 46 (step 4503).

_{Then, Y-Y 1> tan θ} · (X-X 1) Y-Y 2> tan θ · (X-X 2) Y-Y 1> (X-X 1) / tan θ Y-Y 2 <( A region 200 satisfying the formula of (X−X ₂ ) / tan θ is obtained (step 450).
4).

As can be understood from FIG. 46, the area 200 becomes a rectangle in which the lower end position and the upper end position in the figure are indicated by the coordinates (X ₁ , Y ₁ ) and (X ₂ , Y ₂ ).

Then, since the coordinates (X ₁ , Y ₁ ) and (X ₂ , Y ₂ ) are obtained by the above-mentioned equation, the area 200
Includes both the origin and the destination, and the area 20
Route search processing between 0 and 0
In consideration of step 1003), each of the starting point and the destination is extended outward.

In this way, when the area 200 is set under the predetermined condition (step 4504), the intersection number (intersection N
o,) The count value I for scanning and the count value NN for designating a new intersection number (intersection No.) are set to the value 1 (step 4505), and the registered intersection of the intersection number indicated by the count value I is set in the setting area. It is determined whether or not it belongs to 200 (step 4506).

At this time, when it is confirmed that the registered intersection having the intersection number indicated by the count value I belongs to the setting area 200, the intersection number and the count of the registered intersection indicated by the count value I at that time are counted in the table of FIG. One line of data corresponding to the new intersection number indicated by the value NN is created (step 4507).

Next, if the count value NN is incremented (step 4508), or if the registered intersection of the count value I does not belong to the setting area 200, it is determined whether or not the counted value I indicates the final registered intersection ( In step 4509), if the count value I does not indicate the final registered intersection, the count value I is incremented (step 4510), and the registered intersection having the intersection number indicated by the count value I is set in the setting area 200. (Step 4506) and the following processes are repeated.

When the above process is repeated, for example, in the case of FIG. 46 in which the intersection registration contents of FIG. 48 are prepared, the intersection numbers 51, 52, 53, 55, 5 are set in the setting area 200.
Since the registered intersections of 6 belong and the registered intersections of intersection numbers 50, 54, 57 do not belong, the intersection numbers 51, 52, 53, 55, 56 of the registered intersections belonging to the setting area 200.
And new intersection numbers 1, 2, indicated by the count value NN
3, 4, 5 are stored corresponding to the table of FIG.

After that, when the count value I reaches the intersection number indicating the final registered intersection (affirmative determination in step 4509), the registered content of the registered intersection (search intersection) belonging to the setting area 200 is read and the new intersection number is read. Is set corresponding to (step 4511).

Further, the intersection numbers indicating the adjacent intersections of the searched intersections are rewritten to new ones by referring to the table of FIG. 47, and in that case, the intersection numbers of the adjacent adjacent intersections on the table of FIG. 47 are deleted. (Step 451
2).

The intersection registration content shown in the result is edited as shown in FIG. 49, and new data is created as shown in FIG. 50 as the original data shown in FIG.

In this embodiment, the new data shown in FIG.
6 and FIG. 19 processing (FIG. 10 step 1002,
1003) has been performed, and therefore the number of intersections to be selected or searched for in those processes is significantly reduced.

Therefore, according to the present embodiment, it is possible to perform those processes in a short time.

In addition, since the registered intersections that are the targets of route selection in the process of FIG. 19 are limited to those belonging to the setting area 200,
The setting of a large guide route that detours outside the setting area 200 is opened, and thus the shortest guide route is set with certainty.

As can be understood from FIGS. 48, 49, and 50, in this embodiment, only the intersection numbers of adjacent intersections that do not belong to the setting area 200 are deleted from the registered contents of the search intersection (step 4512). Therefore, items such as the distance between intersections which are not used in the processing of FIGS. 16 and 19 are deleted.

As a result, the processing time of FIG. 45 is shortened.

It is also preferable to change the processing of FIG. 45 to the processing of FIG.

In the processing of FIG. 51, when the position coordinates (Xs, Ys), (Xd, Yd) of the starting point and the destination are read (step 4501), block numbers (BXs, BYs) indicating blocks to which they belong, (BXd, BYd) is determined using the table of FIG. 4 (C) (step 5101).

For example, in the case of FIG. 52, the block numbers (3, 4) of the division blocks (see FIG. 4) to which the starting point and the destination belong,
(4,5) are determined respectively.

Next, these block numbers (BXs, BYs), (BX
d, BYd), the minimum value of the X and Y direction components (B
X ₁ , BY ₁ ) and the maximum value (BX ₂ , BY ₂ ) are respectively calculated (step 5102).

For example, in the case of FIG. 52, the block numbers are (3, 4),
Since it is (4,5), the minimum value (BX ₁ , BY ₁ ) becomes (3, 4), and the maximum value (BX ₂ , BY ₂ ) becomes (4.
5).

As a result, BX ₁ = 3, BY ₁ = 4, BX ₂ = 4, BY
An area 200 indicated by ₂ = 5 is set, and in this example, the set area 200 is a square.

Further, when the count values I and NN are set to the value 1 (step 4505), the block number (BX, BX,) to which the registered intersection designated as the intersection number indicated by the count value I belongs
BY) is read from FIG. 4C (step 510).
3) The case of the block number (BX, BY) BX, when BY is _{BX 1 ≦ BX ≦ BX 2,} BY 1 ≦ BY ≦ BY 2 condition is satisfied, registration intersection indicated by the intersection number of the count value I is set It is determined that it belongs to area 200 (affirmative determination in steps 5104 and 5105).

For example, in the case of FIG. 52, the registered intersection with the intersection number 54 belongs to the block indicated by the block number (3.5), and BX ₁ = 3, BY ₁ = 4, BX ₂ = 4, BY.
_{Since 2} = 5 and (BX, BY) = (3,5), 3 ≦ 3 ≦ 4, 4 ≦ 5 ≦ 5, and therefore it is determined that the registered intersection belongs to the setting area 200.

According to the above processing, the area 200 is set by the divided blocks obtained by dividing the road map, and whether the registered intersection belongs to the area 200 or not is determined by the divided block. Therefore, the registered contents of FIG. It is possible to significantly reduce the time required to create the route, and as a result, it becomes possible to complete the setting of the guide route in a shorter time.

<Effect> As described above, according to the present invention, an area including a departure place and a destination is set according to a predetermined condition, and a guide route is set using the intersection registration contents belonging to the area. Thus, it becomes possible to set the guide route with the shortest distance reliably and in a short time.

[Brief description of drawings]

1 is a block diagram showing a preferred embodiment of an apparatus according to the present invention, FIG. 3 is an explanatory view of a VDT and a transparent operation panel, FIG. 4, FIG. 5, and FIG. 7, FIG. 8, FIG. 8 and FIG. 9 are drawings for explaining the stored contents of the external memory in FIG. 2, FIG. 10, and FIG. 11 are drawings for explaining the processing procedure of the CPU in FIG. 2, FIG. 12, and FIG. Figure, Figure 14, Figure 15
FIG. 16 is a display screen diagram for explaining the specifying action of the starting point and the destination. FIG. 16 is a process procedure explanatory diagram of FIG.
FIG. 18, FIG. 18 is an explanatory view of selecting action of a departure intersection and a destination intersection, FIG. 19 is a processing procedure explanatory view of the CPU of FIG.
FIG. 21, FIG. 21 is an explanatory diagram of the stored contents of the memory table, and FIG.
2, FIG. 23 and FIG. 24 are explanatory views of the processing procedure of the FIG. 2 CPU, FIG. 25 is a display screen view explaining the vehicle guiding action up to the departure intersection, and FIG. 26 is the processing procedure of the FIG. 2 CPU. Explanatory drawing, FIG. 27 is a screen display explanatory drawing in front of the departure intersection, FIG. 28, FIG. 29 is FIG. 2 CPU processing procedure explanatory drawing, FIG. 30, FIG. 31, FIG. 32, FIG. FIG. 34, FIG. 35 is an explanatory view of processing contents at the time of route guidance, FIG. 34 is a processing procedure explanatory diagram of CPU, FIG. 36, FIG. 37 is a screen display section for explaining route guidance action, FIG. 38, FIG. FIG. 39 is a diagram for explaining the processing procedure of the CPU in FIG. 2, FIG. 40 is a screen display diagram for explaining the vehicle guiding action at the intersection, and 41.
FIG. 42, FIG. 42 is an explanatory view of the processing procedure of the CPU, FIG.
Fig. 44 is a screen display diagram for explaining the vehicle guiding action to the destination, Fig. 45 is a process procedure explanatory diagram of Fig. 2 CPU,
FIG. 46 is an explanatory diagram of stored contents of the old and new intersection number exchange table, FIG. 47 is an explanatory diagram of area setting action, and FIG. 48 is U.
FIG. 48, FIG. 49, and FIG. 50 are diagrams for explaining the predicting action of the turn route, and FIG. 51 is a flowchart for showing the processing procedure in place of FIG. 45.
The figure is an illustration for explaining the operation of the processing shown in FIG. 1 ... CPU 2 ... System ROM 3 ... RAM 4 ... Distance sensor 5 ... Direction sensor 6 ... Video RAM 7 ... CRT 8 ... Input operation section 9 ... VDT 10 ... Transparent operation panel 11 ... … Operation panel interface 12 …… External memory

Claims (1)

[Claims] 1. An intersection registration unit for storing position information of each intersection, identification information of each adjacent intersection, distance information of a path from the intersection to each adjacent intersection, and a vehicle starting position and a target destination position. Area setting means for setting included areas according to predetermined conditions, intersection searching means for searching registered intersections belonging to the set area based on the positional information, and search intersections for extracting information only on each search intersection from intersection registration contents Information extraction means, and based on the extracted information, a guide route having the shortest path distance between a pair of selected intersections corresponding to the vehicle departure position and the destination target position is calculated by integrating the path distance in the extracted information. A guide route setting device for a vehicle route guide device, comprising: route setting means for setting.